Method and apparatus for controlling the power of a battery power source

Abstract: A power control method and apparatus for extracting the maximum power from a battery power source are disclosed. Voltage signals and current signals are read while varying the operating point of a solar cell acting as the battery power source. The variation in the intensity of solar radiation that has occurred during a sampling time interval is estimated from a plurality of current signals, sampled at the same voltage, or, according to a plurality of power values, calculated from current signals and voltage signals. Based on the estimated variation in the intensity of solar radiation, the current signals or power signals are corrected. According to the corrected current signals or according to the corrected power values and the voltage values, the operating point is controlled so that the maximum output power is provided from the solar cell.

Description: The present invention concerns a method of regulating the power output of a power converter, particularly one connected across a solar battery power source, or the like. It also concerns an apparatus including a controller for regulating the power output of such a power converter. The global environment has become a serious problem. To solve this problem, one of promising clean energy sources is a battery power system, such as a solar cell, aerogenerator, etc. When a solar cell is used as a battery power source that is connected to a utility grid, the utility grid acts as a substantially infinite load. Under this condition, it is required to establish a technique that can provide the highest efficiency in the operation of the battery power system as a whole. Not only should the total efficiency of the battery power system be high, but also the total power system including the utility grid should have high efficiency. Thus, it is required to establish a technique to achieve the highest efficiency in the total power system. In a solar cell, since it is based on photoelectric conversion, the output power greatly depends on the intensity of solar radiation, temperature, or the voltage at the operating point. Therefore, the load seen from the solar cell system should be adjusted such that the solar cell system can always provide the maximum power. One of the techniques known for the above purposes is to change the operating-point voltage or current of a solar cell array, including a plurality of solar cells, and to detect the resultant change in power thereby determining the optimum operating point for the solar cell array to provide the maximum, or nearly maximum, power. One of techniques of this kind is disclosed in Japanese Patent No. 63-57807, that is based on the derivative of the power with respect to the voltage. Another technique of this kind is the so-called "hill-climbing method" in which the optimum operating point is searched by varying the power in a direction that leads to an increase in the power, as disclosed, for example, in Japanese Patent Laid-Open No. 62-85312 or US-A-4 899 269. These methods are widely used in conventional solar cell systems to control a power conversion apparatus so as to provide the maximum power. However, the conventional methods have the following problems. In the hill-climbing method, when the voltage is initially set to V1, shown in Figure 14 (wherein the horizontal axis represents voltage V, and the vertical axis represents power P), and the voltage is increased, if the intensity of solar radiation increases, then the following problem occurs. When the voltage is set to V1, voltage V1 and current I1 at an operating point (1) are sampled or read at time t1, and then the output power P1 at this time is calculated. Then, the voltage is changed and set to V2. At time t2, which is later by the sampling interval Ts than time t1, sampling is performed again and voltage V2 and current I2 at an operating point (2) are read, and then the output power P2 at this time is calculated (the operating point will be at the point represented by an open circle with a broken line if no change in the solar-radiation intensity occurs). If the intensity of solar radiation is constant, the decision that the voltage should be decreased will be made judging from the operation point (1) and the open circle. However, if the intensity of solar radiation increases during the time period between the sampling times tl and t2, the increase in power from P1 to P2 will lead to an incorrect decision that the voltage should be increased. In this case, the correct decision would be that the voltage should be decreased, as can be seen from the voltage operating point (2) lying on the V-P curve at time t2. As a result of the incorrect decision, the searching is further done in the direction that leads to a higher operating voltage, and thus the instantaneous output efficiency decreases (the instantaneous output efficiency is defined as the ratio of the output power to the maximum available power at an arbitrary time). If the intensity of light increases further, then the operating voltage increases further, and thus the instantaneous output efficiency decreases to a very low level. As a result, the output efficiency also decreases (the output efficiency is defined as the ratio of the output power to the maximum available power during a certain time duration). In the above example, the output voltage increases. However, the output voltage may decrease or may remain at the same value as a result of an incorrect decision. Sometimes, an erroneous operation of the power control system, such as that described above, leads to an abrupt decrease in the output voltage of the solar cell system, and causes a protection circuit to undesirably shutdown a power conversion apparatus. In the above example, the operation is performed according to the hill-climbing method. The power control method based on the derivative of the power with respect to the voltage also has a similar problem. In any case, there is a possibility that a reduction in the output efficiency or other instability may occur in a solar cell system due to changes in conditions such as a change in the intensity of solar radiation during a sampling interval. The present invention is provided as a remedy. The method and apparatus of the present invention are of the type known from Japanese Patent No. 63-57807 and Japanese Patent Laid-Open N. 62-85312, acknowledged hereinbefore, having those features recited in the preamble of claims 1 and 11 attached. The method of regulating the power output of a power converter is, in accordance with the present invention, characterised in that: the adjusting of the power converter includes setting the operating point input voltage to a same set value for each of a plurality of different sampling times of the sampling cycle; and the method includes: correcting one or more sample values of the parameter by a respective correction amount to compensate for a change of the power characteristic of the battery power source, which respective correction amount is dependant on the corresponding sampling times of the one or more sample values and is determined using the sample values of the parameter obtained for the same set value of the operating point input voltage; and regulating the power converter on the basis of sample values which include the one or more sample values corrected by the respective correction amounts. In a power control method according to the present invention, since a variation in current or power that has occurred during a sampling time interval is estimated from a difference in current or power at the same voltage, and current signals or power values are corrected using the estimated variation in current or power, data lying on a correct I-V curve at an arbitrary given time can be obtained, regardless of variations of parameters such as the intensity of solar radiation, thereby searching the optimum operating point at which the maximum output power is obtained. As a result, the maximum power can always be extracted from the battery power source, without any instability in operation, regardless of the variation in the intensity of solar radiation. Furthermore, since the sampling operation is required to be done only twice at the same voltage, it is possible to quickly search the optimum operating point with the minimum number of sampling operations. If sampling operations for the same voltage are done first and last in each sampling cycle, the information of the change in the intensity of solar radiation that occurs during a time interval from the start of a sampling cycle to the end of the cycle can be obtained, and therefore more accurate correction can be performed on the data. The apparatus of the present invention is characterised in that: the controller is adapted to set the target values for setting the operating point input voltage to a same value for a plurality of times of the sampling cycle, and to one or more respective different values at other one or more respective different times of the sampling cycle; the controller is adapted to correct one or more of the samples by a respective correction amount, to compensate for a change of the power characteristic of the power source, which respective correction amount is dependant on the corresponding sampling times of the one or more samples and is determined by the controller from those of the samples obtained for the same set value of the operating point input voltage; and the controller is adapted to determine the target value for resetting the input voltage on the basis of samples which include said one or more samples corrected by the respective correction amounts. Furthermore, the invention concerns a memory as defined in claim 21. In the accompanying drawings:- Figure 1 is a schematic diagram illustrating an example of a battery power system using a power control method according to the present invention; Figure 2 is a graph illustrating an example of searching of an optimum operating point according to the power control method of the present invention; Figure 3 is a flow chart illustrating the control process shown in Figure 2; Figure 4 is a graph illustrating another example of searching of an optimum operating point according to a power control method of the present invention; Figure 5 is a flow chart illustrating the control process shown in Figure 6; Figure 6 is a graph illustrating still another example of searching of an optimum operating point according to a power control method of the present invention; Figure 7 is a graph illustrating a typical voltage-versus-power characteristic of a solar cell; Figure 8 is a flow chart iLlustrating the control process associated with Figure 7; Figure 9 is a schematic diagram illustrating another example of a battery power system using a power control method according to the present invention; Figure 10 is a flow chart illustrating the operation of the system shown in Figure 9; Figure 11 is a schematic diagram illustrating still another example of a battery power system using a power control method according to the present invention; Figure 12 is a graph illustrating another example of searching of an optimum operating point according to a power control method of the present invention; Figure 13 is a flow chart illustrating the control process shown in Figure 12; and Figure 14 is a graph illustrating an example of searching of an optimum operating point according to a conventional power control method. The present invention is based on the finding that in a searching operation for the maximum power of a battery power source, apparent displacement of a characteristic curve, such as a P-I curve or V-I curve, occurs to a rather larger degree during each sampling interval Ts, while the change in the apparent shape of the characteristic curve during this interval Ts is rather small. The apparent displacement of the characteristic curve occurs at a substantially constant rate during the sampling interval Ts. A good approximation or correction of a characteristic curve at an arbitrary time can be obtained from values sampled at sampling intervals Ts. Power control can be successfully performed on the basis of this corrected characteristic to achieve high efficiency in a total system. In the power control of a solar cell, it is impossible to sample voltages or currents associated with the solar cell at a plurality of operating points at the same time. Inevitably, it takes a finite time, determined by a sampling interval Ts, to obtain a plurality of data. Therefore, if correction is not performed, a quick change in the intensity of solar radiation can cause a problem in the power control of the solar cell. Referring to the accompanying drawings, the present invention will now be described in detail. Figure 1 illustrates an electric power generating system, using solar energy, based on a power control method of the present invention. The DC power-of a solar cell 1, serving as a battery power source, is subjected to power conversion at a power conversion apparatus 2, serving as power conversion means, and is then supplied to a load 3. Battery Power Source The battery power source 1 can be implemented with a solar cell comprising a semiconductor, such as amorphous silicon, micro-crystal silicon, crystalline silicon, single-crystal silicon, compound semiconductor, or the like. In general, a plurality of solar cells are combined in a series-and-parallel form and arranged in an array or string form so that a desired voltage and a desired current are obtained. Power Conversion Means The power conversion means 2 can be implemented by a DC/DC converter constructed with a switching device of the self extinction type such as a power transistor, power MOS FET, IGBT, GTO, etc., or a self excited DC/AC inverter. In the power conversion means 2, the power flow, input and output voltage, and output frequency are controlled by adjusting the duty factor or the on/off ratio of the gate pulse. Load The load 3 can be an electric heating system, an electric motor, a commercial AC system, etc., or combinations of these loads. When the load is a commercial AC system, the solar cell system is called a grid connection solarlight power generation system. In this case, since there is no limitation in the power that the AC system can accept, the power control method of the present invention can be advantageously used to extract the maximum power from the battery power source. Voltage Detection Means and Current Detection Means The output voltage and the output current of the battery power source 1 are sampled using conventional voltage detection means 4 and current detection means 5. The voltage signal, detected in the form of digital data, is applied to output voltage setting means 6 and control means 7. The detected current signal is applied to the output voltage setting means 6. In the case of the AC output current or the AC output voltage, the average value is determined from instantaneous values. Output Voltage Setting Means The output voltage setting means 6 determines a target voltage from the voltage signals and current signals that have been detected and stored, and adjusts the duty factor or the on/off ratio so that the output voltage of the solar cell system is maintained at the target voltage. The output voltage setting means 6 is implemented by a microcomputer including a CPU, RAM, I/O circuit, etc. Control Means The control means 7 is the so-called gate driving circuit that generates a PWW pulse to drive the gate according to, for example, the triangular wave comparison method or the instantaneous current tracking control method, whereby the on/off duty factor of the power conversion means 2 is controlled to control the output voltage of the solar cell system. Embodiment 1 Referring to Figure 2, a method for searching the operating point that gives the maximum power, using the hill-climbing technique, will be described. Figure 2 illustrates voltage-power output characteristics at different times, in which the horizontal axis represent the voltage V, and the vertical axis represents the power P. As can be seen from Figure 2, the change in the apparent shape of the V-P curve is small. First, the operating point is set to voltage V1. Sampling is done at time t1 so as to read voltage V1 and current I1 at the operating point (1), and then the output power P1 (= V1 x I1) is calculated. Operating Point (1): Voltage = V1; Power = P1 Then, the operating point is set to voltage V2, and voltage V2 and current I2 at the operating point (2) are read at the next sampling time t2 (= t1 + Ts), and the output power P2 (= V2 x I2) is calculated. Operating Point (2): Voltage = V2; Power = P2 The operating point is set to voltage V1 again, and voltage V3 (= V1) and current I3 at the operating point (3) are read at the next sampling time t3 (= t2 + Ts), and the output power P3 (= V3 x I3) is calculated. Operating Point (3): Voltage = V3; Power = P3 Then, the variation in the intensity of solar radiation is estimated from the difference between the power obtained at two operating points having the same voltage V1. That is, since the output current or the output power of the solar cell system changes in proportion to the intensity of the solar radiation as long as the output voltage is maintained constant, the difference in power for the same output voltage indicates the change in the intensity of solar radiation that has occurred during the measuring interval. Therefore, the power difference ΔP = P3 - P1 represents the change in the intensity of solar radiation that has occurred during the interval from time t1 to time t3. (This means that the apparent displacement of the characteristic curve per searching time interval is rather great, and the displacement of the characteristic curve occurs at a nearly constant rate during each searching time interval.) In view of the above, the data is corrected using ΔP which includes the information representing the change in the intensity of solar radiation. The sampling interval Ts is preferably less than 1 sec, and more preferably less than 1/30 sec, so that the intensity of solar radiation can be considered to change at a constant rate during the time interval from t1 to t3 (the interval is assumed to be 1/30 sec in the following discussion). In the vicinity of the operating point that results in the maximum output power, the difference between the output power at voltage V1 and the output power at voltage V2 is so small that the changing rate in the apparent displacement of the output power curve, arising from the change in the intensity of solar radiation during a time interval of the order of the sampling interval Ts, can be regarded as constant for both operating points at V1 and V2. Therefore, power P2 at the operating voltage V2 at time t2 can be corrected to power P2', at the operating voltage V2 at time t3, by adding ΔP/2 to power P2 wherein ΔP/2 corresponds to the power change arising from the change in the intensity of solar radiation that has occurred during the time interval from t2 to t3. P2'= P2 + ΔP/2 This corrected operating point is denoted by (2)' in Figure 2. Operating Point (2)': Voltage = V2; Power = P2' Then, the power at the operating point (3) is compared with the power at the operating point (2)', and the next searching direction is determined from the result of the above comparison. Power P3 at the operating point (3) is greater than power P2' at the operating point (2)'. This means that the maximum power will be obtained at an operating voltage less than the operating voltage V1, which will lead to a decision that the next searching should be done in the direction that results in a reduction in voltage. The above-described process is done repeatedly so that the operating point is always at the optimum point that produces the maximum power. Figure 3 is a flow chart illustrating this process. In the above example, the operation has been described referring to the case in which the intensity of light increases. However, it will be apparent to those skilled in the art that the operating point is always at the optimum point that provides the maximum output power also in the case where the intensity of light decreases or remains unchanged. The power control method of the present embodiment has been applied to a solar cell system including twelve amorphous solar cell modules, produced by USSC Corp. (Product Number: UPM880), wherein these solar cell modules are connected in series. This solar cell system has been continuously operated under varying solar radiation, wherein the optimum operating point is searched by varying the voltage in steps of 2 V at sampling intervals of 1/30 sec. Under the above conditions, the solar cell system has shown output efficiency (the ratio of the output power to the maximum available output power) as high as 99.99%. In contrast, in the solar cell system controlled according to the conventional hill-climbing method, in which data correction is not performed, the output efficiency was 98.86% under the same conditions. The above results indicate that the system having a relatively simple construction according to the present invention can provide improvement in the efficiency by about 1.13%. In the present embodiment, as described above, the variation in the intensity of solar radiation is estimated from power values obtained at the same output voltage at different times, thereby obtaining correct data, lying on a correct output characteristic curve, at any given time. Since the searching direction is determined from the data obtained in this way, no erroneous operation occurs in the searching control even if the intensity of solar radiation varies. As a result, the system can extract the maximum power from a solar cell system without instability. Embodiment 2 A second embodiment will now be described. In this embodiment, a solar cell power generation system, using a power control method according to the present invention, has a similar construction to that of embodiment 1 shown in Figure 1. However, in this embodiment, the power control that will be described below, referring to Figure 4, is based on a different method from that of embodiment 1. Figure 4 illustrates voltage-power output characteristics at different times, in which the horizontal axis represent voltage V, and the vertical axis represents power P. In a searching operation, the operating point is first set to voltage V1. Sampling is performed at time t1 so as to read voltage V1 and current I1 at the operating point (1), and then the output power P1 (= V1 x I1) is calculated. Operating Point (1): Voltage = V1; Power = P1 Then, the operating point is set to V2 (= V1 + ΔV), and voltage V2 and current I2 at the operating point (2) are read at the next sampling time t 2(= t 1 + Ts), and the output power P2(= V2 x I2) is calculated from these values. Operating Point (2): Voltage = V2; Power = P2 Then, the operating point is set to voltage V3 (= V1 - ΔV), and voltage V3 and current I3 at the operating point (3) are read at the next sampling time t3 (= t 2 + Ts), and the output power P3 (= V3 x I3) is calculated from these values. Operating Point (3): Voltage = V3; Power = P3 The operating point is set to voltage V1 again, and voltage V1(= V4) and current I4 at the operating point (4) are read at the next sampling time t4 (= t3 + Ts), and the output power P4(= V1 x I4) is calculated from these values. Operating Point (4): Voltage = V4; Power = P4 Then, the variation in the intensity of solar radiation is estimated from the difference between the power obtained at two operating points having the same voltage V1. Since the output current or the output power of the solar cell system changes in proportion to the intensity of the solar radiation as long as the output voltage is maintained constant, the difference in power for the same output voltage indicates the change in the intensity of solar radiation that has occurred during the measuring interval. Therefore, the power difference ΔP = P4 - P1 represents the change in the intensity of solar radiation that has occurred during the interval from time t1 to time t4. Therefore, the data is corrected using ΔP which includes the information representing the difference in the intensity of solar radiation. Because the sampling interval Ts is as short as 1/30 sec, the intensity of solar radiation can be considered to change at a constant speed during the time interval from t1 to t4. In the vicinity of the operating point that results in the maximum output power, the difference in the output power among the operating points at voltages V1, V2 and V3 is so small that the changing rate in the output power, arising from the change in the intensity of solar radiation during a time interval of the order of the sampling interval Ts, can be regarded as constant for each operating point at V1, V2 and V3. Therefore, power P2 at the operating voltage V2 at time t2 can be corrected to power P2' at the operating voltage V2 at time t4 by adding ΔP x 2/3 to power P2 wherein ΔP x 2/3 corresponds to the power change arising from the change in the intensity of solar radiation during the time interval from t2 to t4. P2' = P2 + ΔP x (2/3) This corrected operating point is denoted by (2)' in Figure 4. Operating Point (2)': Voltage = V2; Power = P2' Furthermore, power P3 at the operating voltage V3 at time t3 can be corrected to power P3' at the operating voltage V3 at time t4 by adding ΔP x 1/3, to power P3, wherein ΔP x 1/3 corresponds to the power change arising from the change in the intensity of solar radiation during the time interval from t3 to t4. P3'= P3 + ΔP x (1/3) This corrected operating point is denoted by (3)' in Figure 4. Operating Point (3)': Voltage = V3; Power = P3' The next operating voltage is determined from the data associated with the three operating points (2)', (3)', and (4) as follows. The voltage-versus-power output characteristic curve at time t4 is approximated by a quadratic curve on which the operating points (2)', (3)', and (4) lie. In general, an arbitrary curve can be approximated well by a quadratic curve for a narrow range. Furthermore, a quadratic curve can be uniquely determined from three data points. Thus, if three sets of voltage and power are substituted into the following equation: P = aV 2 + bV + c (a, b, c are coefficients) then the following three simultaneous equations are obtained . P4 = aV1 2 + bV1 + c P2' = aV2 2 + bV2 + c P3' = aV3 2 + bV3 + c The coefficients a, b, and c can be determined by solving the above equations. Then, a point on this approximated voltage-versus-output output characteristic curve that gives the maximum power is determined, and the operating voltage is set to the value corresponding to this point. That is, a point that gives a maximum value on this quadratic curve is determined, and the operating voltage is set to this point. V = - b/2a Since the searching is done in constant voltage steps ΔV = (V2 - V1) = (V1 - V3), the setting voltage can be written by the following simple equation. V = V1 + ΔV/2 x {(P2' - P3')/ (2 x P4 - P2'- P3')} The voltage determined from the above equation is used as a starting voltage in the next searching cycle. The above-described process is done repeatedly so that the operating point is always at the optimum point that provides the maximum power. In the above example, the operation has been described referring to the case where the intensity of light increases. However, it will be apparent to those skilled in the art that the operating point is always at the optimum point that provides the maximum output power also in the case where the intensity of light decreases or remains unchanged. Figure 5 is a flow chart illustrating this process. The power control method of the present embodiment has been applied to a solar cell system including twelve amorphous solar cell modules, produced by USSC Corp. (Product Number: UPM880), wherein these solar cell modules are connected in series. This solar cell system has been continuously operated under varying solar radiation, wherein the optimum operating point is searched by varying the voltage in steps of 2 V at sampling intervals of 1/30 sec. Under the above conditions, the solar cell system has shown output efficiency (the ratio of the output power to the maximum available output power) as high as 99.98%. In contrast, in the solar cell system controlled according to a conventional method in which a quadratic curve is determined without correcting data, the output efficiency was 99.67% under the same conditions. In the present embodiment, as described above, the variation in the intensity of solar radiation is estimated from power values obtained at the same output voltage at different times, thereby obtaining correct data lying on a correct output characteristic curve at any given time. Since the starting voltage in the next searching cycle is determined from the data obtained in this way, no erroneous operation due to the change in the intensity of solar radiation occurs in the searching control. As a result, the system can extract the maximum power from a solar cell system without instability. Embodiment 3 A third embodiment will now be described below. In this embodiment, a solar cell power generation system using a power control method according to the present invention also has a construction similar to those of embodiments 1 and 2 shown in Figure 1. However, in this embodiment, the power control that will be described below, referring to Figure 6, is based on a method different from those of the previous embodiments. Figure 6 illustrates voltage-versus-current output characteristics at different times, in which the horizontal axis represent voltage V, and the vertical axis represents current I. In a searching operation, the operating point is first set to voltage V1. Sampling is performed at time t1 so as to read voltage V1 and current I1 at the operating point (1). Operating Point (1): Voltage = V1; Current = I1 Then the operating point is set to V2 (= V1 + ΔV), and voltage V2 and current I2 at the operating point (2) are read at the next sampling time t2 (= t1 + Ts). Operating Point (2): Voltage = V2; Current = I2 The operating point is set to voltage V1 again, and voltage V1 (= V3) and current I3 at the operating point (3) are read at the next sampling time t3 (= t2 + Ts). Operating Point (3): Voltage = V3; Current = I3 Then, the apparent displacement of the voltage-versus-current curve, due to the variation in the intensity of solar radiation, is estimated from the difference between the currents obtained at the two operating points having the same voltage V1. Since the output current or the output power of the solar cell system changes in proportion to the intensity of the solar radiation, as long as the output voltage is maintained constant, the difference in power for the same output voltage indicates the change in the intensity of solar radiation that has occurred during the measuring interval. Therefore, the current difference, ΔI = I3 - I1, represents the change in the intensity of solar radiation that has occurred during the interval from time t1 to time t3. The data is corrected using ΔI which includes the information representing the difference in the intensity of solar radiation. Because the sampling interval Ts is as short as 1/30 sec, the intensity of solar radiation-can be considered to change at a constant rate during the time interval from t1 to t3. Therefore, current I2 at the operating voltage V2 at time t2 can be corrected to current I2' at the operating voltage V2 at time t3 by adding ΔI/2 to current I2 wherein AI/2 corresponds to the power change arising from the change in the intensity of solar radiation during the time interval from t2 to t3. I2' = I2 + ΔI/2 This corrected operating point is denoted by (2)' in Figure 6. Operating Point (2): Voltage = V2; Current = I2 The next operating voltage is determined from the data associated with the operating points (2)' and (3) as follows. Figure 7 illustrates a typical voltage-versus-power characteristic curve of a solar cell, in which the horizontal axis represent voltage and the vertical axis represents power. The gradient of the characteristic curve becomes zero at a point at which the output power has the maximum value. In the range in which the operating voltage is greater than the optimum voltage at which the output power has its maximum value, the gradient of the characteristic curve is negative. Contrarily, in the range in which the operating voltage is less than the optimum voltage at which the output power has its maximum value, the gradient of the characteristic curve is positive. That is, gradient dP/dV of the output characteristic curve is written as dP/dV = d(V x I)/dV = I + V x dI/dV and thus if dP/dV < 0, then the operating voltage > the optimum voltage; if dP/dV = 0, then the operating voltage = the optimum voltage; and if dP/dV > 0, then the operating voltage < the optimum voltage. Here, if V1 and I3 are used as V and I, respectively, and furthermore, if dV = V1 - V2, and dI = I3 - I2', then dP/dV = I3 + V1 x (I3 - I2')/(V1 - V2). Using this equation, the next operating point is given by changing the operating voltage in the direction as follows: if dP/dV < 0 then the operating voltage is decreased; if dP/dV = 0 then the operating voltage is unchanged; and if dP/dV > 0 then the operating voltage is increased. In the specific example described above, it is assumed that the operating voltage should be increased. The above-described process is done repeatedly so that the operating point is always at the optimum point that produces the maximum power. Figure 8 is a flow chart illustrating this process. In the above example, the operation has been described referring to the case where the intensity of light increases. However, it will be apparent to those skilled in the art that the operating point is always at the optimum point that provides the maximum output power also in the case where the intensity of light decreases or remains unchanged. The power control method of the present embodiment has been applied to a solar cell system, including twelve amorphous solar cell modules produced by USSC Corp. (Product Number: UPM880), wherein these solar cell modules are connected in series. This solar cell system has been continuously operated under varying solar radiation, wherein the optimum operating point is searched by varying the voltage in steps of 2 V at sampling intervals of 1/30 sec. Under the above conditions, the solar cell system has shown output efficiency (the ratio of the output power to the maximum available output power) as high as 99.98%. In contrast, in the solar cell system controlled according to a conventional method in which data correction is not performed, the output efficiency was 98.86% under the same conditions. In the present embodiment, as described above, the variation in the intensity of solar radiation is estimated from power values obtained at the same output voltage at different times, thereby obtaining correct data lying on a correct output characteristic curve at any given time. Since the starting voltage and the searching direction in the next searching cycle are determined from the data obtained in this way, no erroneous operation due to the change in the intensity of solar radiation occurs in the searching control. As a result, the system can extract the maximum power from a solar cell system without instability. One of advantages of the systems described above is that since DC voltage detection means and DC current means can be used as the voltage detection means for detecting the voltage, and the current detection means for detection the current, respectively, the system can be constructed in a relatively simple fashion. Embodiment 4 The fourth embodiment will now be described. Figure 9 is a schematic diagram illustrating a solar cell power generation system using a power control method according to the present embodiment of the invention. In this figure, similar elements to those in Figure 1 are denoted by similar reference numerals to those in Figure 1. The system shown in Figure 9 has the following features. Unlike the system shown in Figure 1, in the power control method of the present embodiment according to the invention, there is no need to detect the output current of the solar cell system. Instead, there is provided power detection means 10 for detecting the output power of a power conversion apparatus 2. The power detection means comprises: conversion voltage detection means 11, for detecting the output voltage of the power conversion apparatus 2 (also called the conversion output voltage); conversion current detection means 12, for detecting the output current of the power conversion apparatus 2 (also called the conversion output current); and conversion power calculation means 13 for calculating the output power of the power conversion apparatus 2 (also called the conversion output power) and for outputting the value representing the conversion power. In the case where the power conversion apparatus 2 outputs AC power, the conversion power calculation means 13 detects the instantaneous voltage and current at the output of the power conversion apparatus 2, and then calculates the instantaneous power from these values. The output power is then determined by calculating the average value of the instantaneous power. Referring to Figure 2 again, there will be described a method of the present embodiment for searching the optimum operating point at which the output power has its maximum value in which the hill-climbing method is used. Figure 2 illustrates the output characteristics at different times, in which the horizontal axis represent the voltage of the solar cell system, and the vertical axis represents the output power of the power conversion apparatus. In the description of embodiment 1, Figure 2 has been used to illustrate the operation of the system, in which the vertical axis represents the output power of the solar cell. However, in the case of the present embodiment, it should be understood that the vertical axis represents the output power of the power conversion apparatus. First, the operating point is set to voltage V1. Sampling is performed at time t1 so as to read voltage V1 and current I1 at the operating point (1). Operating Point (1): Voltage = V1; Power = P1 Then, the operating point is set to V2, and voltage V2 and output power P2 are read at the next sampling time t2 (= t1 + Ts). Operating Point (2): Voltage = V2; Power = P2 The operating point is then set to voltage V1 again, and voltage V1 (= V3) and output power P3 at the operating point (3) are read at the next sampling time t3 (= t2 + Ts). Operating Point (3): Voltage = V3; Power = P3 Then, the variation in the intensity of solar radiation is estimated from the difference in power between two operating points having the same voltage V1. Since the output current or the output power of the solar cell system changes in proportion to the intensity of the solar radiation, as long as the output voltage is maintained constant, the output power of the power conversion apparatus 2 also changes in proportion to the intensity of the solar radiation, as long as the change in its input power remains small that can occur during a sampling interval. Therefore, the difference in the output power of the power conversion apparatus for the same output voltage indicates the change in the intensity of solar radiation that has occurred during the measuring interval. Thus, the power difference ΔP = P3 - P1 represents the change in the intensity of solar radiation that has occurred during the interval from time t1 to time t3. Therefore, the data is corrected using ΔP that includes the information representing the chage in the intensity of solar radiation. Because the sampling interval Ts is as short as 1/30 sec, the intensity of solar radiation can be considered to change at a constant rate during the time interval from t1 to t3. In the vicinity of the operating point at which the output power has its maximum value, the difference between the output power at voltage V1 and the output power at voltage V2 is so small that the rate of the change in the output power due to the change in the intensity of solar radiation during a time interval of the order of the sampling interval Ts can be regarded as constant for both the operating points at V1 and V2. Therefore, power P2 at the operating voltage V2 at time t2 can be corrected to power P2' at the operating voltage V2 at time t3 by adding ΔP/2 to power P2 wherein ΔP/2 corresponds to the power change arising from the change in the intensity of solar radiation that has occurred during the time interval from t2 to t3. P2'= P2 + ΔP/2 This corrected operating point is denoted by (2)' in Figure 3. Operating Point (2)': Voltage = V2; Power = P2' Then, the power at the operating point (3) is compared with the power at the operating point (2)', and the next searching direction is determined from the result of the above comparison. Power P3 at the operating point (3) is greater than power P2' at the operating point (2)'. This means that the maximum power will be obtained at an operating voltage less than the operating voltage V1, which will lead to a decision that the next searching should be done in the direction that results in a reduction in voltage. The above-described process is done repeatedly so that the operating point is always at the optimum point that produces the maximum power. Figure 10 is a flow chart illustrating this process. In the above example, the operation has been described referring to the case where the intensity of light increases. However, it will be apparent to those skilled in the art that the operating point is always at the optimum point that provides the maximum output power also in the case where the intensity of light decreases or remains unchanged. In the present embodiment, as described above, the variation in the intensity of solar radiation is estimated from power values obtained at the same output voltage at different times, thereby obtaining correct data lying on a correct output characteristic curve at any given time. Since the searching direction is determined from the data obtained in this way, no erroneous operation occurs in the searching control even if the intensity of solar radiation varies. As a result, the system can extract the maximum power from a solar cell system without instability. In this embodiment 4, since the system has the voltage detection means 4, for detecting the voltage of the solar cell, and the conversion power calculation means 13, for detecting the power via the power conversion apparatus 2, if the output values of the solar cell system 1 vary, the power conversion apparatus disposed at the output side of the solar cell system 2 is controlled such that the output power via the power conversion apparatus 2 always has a maximum value. Embodiment 5 The fifth embodiment will now be described. Figure 11 is a schematic diagram illustrating a solar electric power generation system in parallel operation with other systems, according to the present embodiment of the invention. This system shown in Figure 11 is similar to that of Figure 9. However, the power conversion apparatus 2 and the load 3 are an inverter 14 and an AC system 15, respectively, in this case. Furthermore, the voltage setting means 6 receives a current value detected by current detection means 16 instead of receiving detected output power of the power conversion apparatus. The current detection means 16 comprises conversion current detection means 12, for detecting an AC output current of the inverter 14 (also called conversion output current), and conversion current calculation means 17, for calculating the average current from instantaneous currents detected by the conversion current detection means 12, thereby outputting the resultant average output current of the inverter 14. In this solar electric power generation system, the output of the inverter 14 is connected to the AC system in parallel operation. Since the voltage of the AC system is nearly constant, the output voltage of the inverter is maintained nearly constant. Therefore, if the power factor of the inverter output is constant (1, for example), the output power of the inverter has a maximum value when the output current of the inverter has a maximum value. Furthermore, the characteristic of the voltage of the solar cell versus the output current of the inverter is similar in shape to the characteristic of the voltage of the solar cell versus the output current of the solar cell. In this embodiment, an approximation algorithm using a quadratic curve is also employed as in embodiment 2. Referring to Figure 12, the power control method in this embodiment will be described. Figure 12 illustrates voltage versus current characteristic curves at various times, in which the horizontal axis represent the output voltage V of the solar cell, and the vertical axis represents the output current I of the inverter. In a searching operation, the operating point is first set to voltage V1. Sampling is performed at time t1 so as to read voltage V1 of the solar cell at the operating point (1) and the output current I1 of the inverter. Operating Point (1): Voltage = V1; Current = I1 Then, the operating point is set to V2 (= V1 + ΔV), and voltage V2 and current I2 at the operating point (2) are read at the next sampling time t2 (= t1 + Ts). Operating Point (2): Voltage = V2; Current = I2 The operating point is then set to voltage V3 (= V1 - ΔV), and voltage V3 and current I3 at the operating point (3) are read at the next sampling time t3 (= t2 + Ts). Operating Point (3): Voltage = V3; Current = I3 The operating point is then set to voltage V1 again, and voltage V4 and current I4 at the operating point (4) are read at the next sampling time t4 (= t3 + Ts). Operating Point (4): Voltage = V4; Current = I4 Then, the variation in the intensity of solar radiation is estimated from the difference in power between two operating points having the same voltage V1. That is, since the output power of the solar cell changes in proportion to the intensity of the solar radiation, as long as the output voltage is maintained constant, the output current of the inverter also changes in proportion to the intensity of the solar radiation if the output voltage and the power factor of the inverter are maintained constant. As a result, the difference in current for the same voltage indicates the change in the intensity of solar radiation that has occurred during the measuring interval. This means that the current difference ΔI = I4 - I1 represents the change in the intensity of solar radiation that has occurred during the interval from time t1 to time t4. In view of the above, the data is corrected using ΔI which includes the information representing the change in the intensity of solar radiation. Because the sampling interval Ts is as short as 1/30 sec, the intensity of solar radiation can be considered to change at a constant rate during the time interval from t1 to t4. In the vicinity of the operating point at which the output power of the inverter has its maximum value, the difference in output current among voltages V1, V2 and V3 is so small that the rate of the change in the output power, due to the change in the intensity of solar radiation during a time interval of the order of the sampling interval Ts, can be regarded as constant for all operating voltages V1, V2 and V3. Therefore, current I2 at the operating voltage V2 at time t2 can be corrected to power I2' at the operating voltage V2 at time t4 by adding ΔI x 2/3, to current I2, wherein ΔI x 2/3 corresponds to the current change arising from the change in the intensity of solar radiation during the time interval from t2 to t4. I2' = I2 + ΔI x (2/3) This corrected operating point is denoted by (2)' in Figure 12. Operating Point (2)': Voltage = V2, Current =I2' Furthermore, current I3 at the operating voltage V3 at time t3 can be corrected to current I3' at the operating voltage V3 at time t4 by adding ΔI x 1/3 to current I3 wherein ΔI x 1/3 corresponds to the current change arising from the change in the intensity of solar radiation during the time interval from t3 to t4. I3' = I3 + ΔI x (1/3) This corrected operating point is denoted by (3)' in Figure 12. Operating Point (3)': Voltage = V3; Current I3' The next operating voltage is determined from data associated with three operating points (2)', (3)' and (4) according to the following equation, as in embodiment 2. V = V1 + ΔV/2 x {(I2' - I3')/(2 x I4 - 12' - I3')} The voltage determined from the above equation is used as a starting voltage in the next searching cycle. The above-described process is done repeatedly so that the operating point is always at the optimum point that provides the maximum power. In the above example, the operation has been described referring to the case where the intensity of light increases. However, it will be apparent to those skilled in the art that the operating point is always at the optimum point that provides the maximum output power also in the case where the intensity of light decreases or remains unchanged. In the present embodiment, as described above, the variation in the intensity of solar radiation is estimated from current values obtained at the same voltage at different times, thereby obtaining correct data lying on a correct output characteristic curve at any given time. Since the starting voltage in the next searching cycle is determined from the data obtained in this way, no erroneous operation due to the change in the intensity of solar radiation occurs in the searching control. As a result, the system can extract the maximum power from a solar cell system without instability. In this fifth embodiment, the system includes voltage detection means 4, for detecting the voltage of the solar cell, and current detecting means 16, for detecting the average current, via the inverter 14, acting as a power conversion apparatus. There is no need for detecting the output voltage and output power of the inverter. Thus, a system constructed in a simple fashion, according to this embodiment, can always provide the maximum power via the inverter 14. The present invention has been described referring to specific embodiments in which a solar cell battery is used as the power source. However, it will be apparent to those skilled in the art that the present invention can also be applied to other various types of power source, having a similar output characteristic, whose output current changes in proportion to a certain variable when the voltage is maintained constant. The preferred embodiments described above have the following features and advantages: 1. The optimum operating point at which the maximum power can be extracted from the solar power source can be correctly searched regardless of the change in the intensity of solar radiation during the searching process. 2. The optimum operating point can be correctly searched regardless of the change in the intensity of solar radiation, and the resultant information associated with the optimum operating point is fed back to the system so that the system always operates at the optimum operating point determined. As a result, stable operation is achieved. 3. The sampling operation is done only twice at the same voltage, and thus it is possible to quickly search the optimum operating point with the minimum number of sampling operations. 4. In particular, if sampling operations for the same voltage are done first and last in each sampling cycle, more accurate correction can be performed on the data. The optimum operating point can be searched more accurately according to these accurate data. As described above, the present invention is very useful in the control of the power. In particular, the present invention can be advantageously applied to a battery power system that operates in parallel with a commercial power system.

Claims: A method of regulating the power output of a power converter (2;14), the inputs of which are connected across a battery power source (1) and the outputs of which are connected across a load (3;15), which method is performed by: adjusting said power converter (2;14) to set the operating point input voltage (V) thereof to different set values (V1,V2;V1,V2,V3) for respective different sampling times (t 1 ,t 2 ,...) of a sampling cycle; obtaining a sample value (P1,P2;...;I1,I2) of a parameter (P;I) of said power converter for each said different sampling time of said sampling cycle, which parameter is one of the input or output power (P), input or output current (I), of said power converter; and regulating said power converter by resetting the operating point input voltage (V) thereof to optimise, or at least increase towards optimum, the power output thereof, on the basis of the obtained sample values of said parameter; which method is characterised in that: said adjusting said power converter includes setting the operating point input voltage (V) to a same set value (V1) for each of a plurality of different sampling times (t 1 ,t 3 ;t 1 ,t 4 ) of said sampling cycle; and said method includes: correcting one or more sample values (P2;P2,P3;I2;I2,I3) of said parameter by a respective correction amount to compensate for a change of the power characteristic of said battery power source, which respective correction amount is dependant on the corresponding sampling times (t 2 ;t 2 ,t 3 ) of said one or more sample values and is determined using the sample values (P1,P3;P1,P4;I1,I3;I1,I4) of said parameter obtained for said same set value (V1) of said operating point input voltage; and regulating said power converter on the basis of samplevalues (P3,P2';P4,P2',P3',I3,I2';I4,I2',I3') which include said one or more sample values (P2';P2',P3';I2';I2',I3') corrected by said respective correction amounts. A method according to claim 1 wherein: the operating point input voltage (V) is set twice only to the same set value (V1) for different respective sampling times (t 1 ,t 3 ;t 1 ,t 4 ) of said sampling cycle; and said correcting includes calculating the rate of change (ΔP/Δt; Δi/ΔT) of said parameter (P,I) at constant voltage (V1) as the ratio of the difference of the sample values (P 1 P 3 ;P 1 ,P 4 ;I 1 ,I 3 ;I 1 ,I 4 ) obtained for the same set value (V1) of the operating point input voltage (V) to the difference of these different respective sampling times (t 1 ,t 3 ;t 1 ,t 4 ), and calculating a respective correction amount for each of said one or more sample values (P 2 ;P 2 ,P 3 ;I 2 ;I 2 ,I 3 ) using the calculated rate of change. A method according to claim 2 wherein the operating point input voltage (V) is set to said same set value (VI) at the beginning time (t 1 ) and at the end time (t 3 ;t 4 ) of said sampling cycle. A method according to claim 3 wherein said sample values used as basis for regulating said power converter (2,14) consist of the sample value (P 3 ,P 4 ;I 3 ;I 4 ) obtained for the end time (t 3 ;t 4 ) of said sampling cycle and said one or more sample values (P 2 ' ;P 2 ',P 3 ';I 2 ',I 2 ,I 3 ') corrected by said respective correction amounts. A method according to any preceding claim wherein said parameter is one of either input power or output power and the regulating of said power converter is performed by determining from a comparison of two sample values (P 3 ,P 2 '), including one (P 2 ') corrected by its respective correction amount, the direction of the change of said power with respect to input voltage, and increasing or decreasing the value of the operational point input voltage (V) from its last set value (V1) in the direction of increasing power determined from said comparison. A method according to any preceding claim 1 to 4 wherein said parameter is one of either input power or output power and the regulating of said power converter is performed by resetting the operational point input voltage (V) to a value calculated to correspond to maximum power (P), which value is calculated from the simultaneous solution of equations in which the power is expressed as a quadratic function of the input voltage, using three sample values of power (P 2 ',P 3 ',P 4 ) obtained for three different values (V2,V3,V1) of the operating point input voltage (V), including two corrected sample values (P 2 ',P 3 '), and the corresponding three different values (V2,V3,V1) of the operating point input voltage (V). A method according to any preceding claim 1 to 4 wherein the regulating of said power converter is performed by calculating a power gradient (dP/dV) corresponding to the last setting (V1) of the operating point input voltage, and resetting the operating point input voltage by increasing, maintaining or decreasing the setting value (V1) in dependance on the calculated value of said power gradient (dP/dV) being positive, zero, or negative, the power gradient being calculated as the ratio of the difference in power, corresponding to two different setting values of said operating point input voltage, to the difference in operating point input voltage. A method according to claim 7 wherein said parameter is input current I, and the power gradient (dP/dV) is calculated using two sample values (I 3 ,I 2 ') obtained for said two different value settings (V1,V2), including one (I 2 ') corrected by its respective correction amount, and the two different setting values. A method according to any preceding claim 1 to 4, wherein said power converter is an inverter (14) operable to supply power at a fixed output voltage, and said parameters is the output current. A method according to claim 9 wherein the regulating of said power converter is performed by resetting the operational point input voltage (V) to a value calculated to correspond to maximum output power (P), which value is calculated from the simultaneous solution of equations in which the output current is expressed as a quadratic function of the input voltage, using three sample values of current (I 2 ',I 3 ',I 4 ) obtained for three different values (V2,V3,V1) of the operating point input voltage (V), including two corrected sample values (I 2 ',I 3 '), and the corresponding three different values (V2,V3,V1) of the operating point input voltage (V). Apparatus for regulating the power supplied from a power source (1) to a load (3,15) via a power converter (2,14), the power converter having means of adjusting the operational point input voltage (V) developed across its inputs, said apparatus comprising: a servo-control (4,7) for controlling the power converter to adjust and set the operational point input voltage (V) to a set value (V1,V2;...) corresponding to a target value; sampling means (5;4-6;10;16) for obtaining samples of one of the input or output current, input or output power of the power converter, corresponding to different times (t 1 ,t 2 ,...) of a sample cycle; and a controller (6) to set target values for setting the operating point input voltage for each different time of the sampling cycle, and to determine and set, on the basis of the samples obtained in said sampling cycle, a target value for resetting the operating point input voltage to optimise, or at least increase towards optimum, the power output of the power converter; which apparatus is characterised in that: said controller is adapted to set the target values for setting the operating point input voltage to a same value (V1) for a plurality of times (t 1 ,t 3 ;t 1 ,t 4 ) of said sampling cycle, and to one or more respective different values (V2;V2,V3) at other one or more respective different times (t 2 ;t 2 ,t 3 ) of said sampling cycle; said controller is adapted to correct one or more of said samples by a respective correction amount, to compensate for a change of the power characteristic of the power source, which respective correction amount is dependant on the corresponding sampling times (t 2 ;t 2 ,t 3 ) of said one or more samples and is determined by said controller from those of said samples (P1,P3;P1,P4;I1,I3;I1,I4) obtained for the same set value (V1) of the operating point input voltage (V1); and said controller is adapted to determine the target value for resetting the input voltage on the basis of samples (P3,P2';P4,P2',P3';I3,I2';I4,I2',I3') which include said one or more samples (P2';P2',P3';I2';I2',I3') corrected by said respective correction amounts. Apparatus according to claim 11 wherein said sampling means is for obtaining samples of power and includes means (5) of sampling current and means (6) of producing said samples of power by calculating the products of the sampled current values and the respective values of the corresponding set voltage. Apparatus according to claim 12 wherein said means of producing said samples is embodied in said controller (6). An apparatus according to claim 11 wherein: said controller is arranged to set said target values to a same value (V1) for two times (t 1 ,t 3 ;t 1 ,t 4 ) of said sampling cycle; and said controller is arranged to calculate the respective correction amount by first calculating the rate of change at constant voltage of the current or power represented by said samples (P1 to P3; P1 to P4;I1 to I3;I1 to I4) as the ratio of the difference of the two sample values of the samples (P1,P3;P1,P4;I1,I3,I1,I4) obtained for the same set voltage, to the difference of their different respective times (t 1 ,t 3 ;t 1 ,t 4 ) and then calculates the correction amount using the calculated rate of change. An apparatus according to claim 14 wherein said controller is arranged to set said target values to the same value (V1) at the beginning time (t 1 ) and the end time (t 3 ;t 4 ) of said sampling cycle. An apparatus according to claim 15 wherein: said controller is arranged to correct the one or more samples (P2;P2,P3;I2;I2,I3) obtained corresponding to times (t 2 ;t 2 ,t 3 ) of the sampling cycle other than the beginning time (t 1 ) and the end time (t 3 ,t 4 ); and said controller is arranged to determine and set the target value, for resetting the operating point input voltage, on the basis of a set of samples consisting of the sample (P3;P4;I3;I4) obtained corresponding to the end time (t 3 ;t 4 ) of the sampling cycle, and the corrected one or more samples (P2';P2',P3';I2';I2',I3'). An apparatus according to any of claims 11, and 14 to 16 wherein: said controller is arranged to compare two of the samples (P2',P3) obtained for different set values (V2,V1) of the operating point input voltage, one of which samples (P2') is a corrected sample, to determine from this comparison and from the direction of voltage change between their corresponding different set values (V2,V1), a direction of change to be applied next to the operating point input voltage; and to increment and reset the target value in the direction of change determined. An apparatus according to any of claims 11, and 14 to 16 wherein said controller is arranged to determine and set the target value for resetting the operating point input voltage on the basis of three samples (P2',P3',P4) obtained for three different target values (V2,V3,V1), including two corrected samples (P2',P3'), and the three different set voltage values (V2,V3,V1) of the operating point input voltage corresponding thereto, by solving simultaneously three quadratic equations in which sample value is expressed as a quadratic function of voltage, to determine the value of voltage corresponding to the maximum sample value given by these quadratic equations, and resetting the target value for resetting the operating point input voltage to this value. An apparatus according to claim 16 wherein said controller is arranged to determine and set the target value for resetting the operating point input voltage on the basis of two samples (I3,I2') of current, one of which is a sample (I3) obtained for the end time (t 3 ) of the sampling cycle, the other of which is a corrected sample (I2') corresponding to a sample (I2) obtained at a time (t 2 ) between the beginning time (t 1 ) and the end time (t 3 ) of the sampling cycle, which controller is arranged to calculate a gradient value by summing the value of the sample (I3) obtained for the end time (t 3 ) with the product of the set value (V1) of voltage set for the other sample (I2) and the ratio of the difference in value of the sample (I3) and the corrected sample (I2') to the difference in value of the set operating point input voltages (V1,V2) for which they are obtained, and sets the target value to increase, maintain or decrease the operating point input voltage depending on the calculated gradient value being positive, zero or negative. An apparatus according to any of claims 11 and 14 to 19, wherein said controller is a microcomputer having a memory programmed to cause it to function as a setting means, a determining means and a correction means. A programmed memory for use as the memory of the microcomputer implemented controller of claim 20, which memory includes executable instructions to carry out the method as claimed in any of the claims 1 to 11. A power regulator comprised of the apparatus of any of claims 11 to 21 and a power converter (2;14) having means of adjusting an operational point input voltage applied across its inputs. A power supply comprised of the power regulator of claim 22 and a power source (1) connected across the inputs of said power converter (2;14). A power supply according to claim 23 wherein said power source (1) is a solar cell battery. The combination of the power supply of claim 23 or 24 and a load (3;15) connected across the outputs of said power converter (2;14).

Inventors: KUROKAMI SEIJI, TAKEHARA NOBUYOSHI, KUROKAMI, SEIJI, TAKEHARA, NOBUYOSHI, KUROKAMI, SEIJI, C/O CANON KABUSHIKI KAISHA, TAKEHARA, NOBUYOSHI, C/O CANON KABUSHIKI KAISHA
Applicants: CANON KK, CANON KABUSHIKI KAISHA
Application year: 1994
Main classification: G05F1
IPC codes: G05F1, H02J3